WO2018121695A1

WO2018121695A1 - Servo steering engine and robot

Info

Publication number: WO2018121695A1
Application number: PCT/CN2017/119556
Authority: WO
Inventors: 熊友军; 杜旭超; 丁宏钰
Original assignee: 深圳市优必选科技有限公司
Priority date: 2016-12-29
Filing date: 2017-12-28
Publication date: 2018-07-05
Also published as: CN107246461A; CN107246461B

Abstract

A servo steering engine, comprising: a driving device (10), provided with a first output shaft (12), a power input gear (14) being mounted on the first output shaft (12); a reducing mechanism (20), comprising a power gear (21) matched with a power input gear (14), a first transmission gear (22) provided coaxially with the power gear (21) and rotate synchronously with the power gear (21), and a reducing component (24) driven by the first transmission gear (22) to rotate; and a power output mechanism (30), driven by the reducing mechanism (20) to rotate, and comprising a second output shaft (32). The power input gear (14) is staggered and engaged with the power gear (21). Also disclosed is a robot comprising the servo steering engine.

Description

Servo servo and robot

Technical field

The invention belongs to the field of robot technology, and in particular relates to a servo steering gear and a robot having the same.

Background technique

In the current automated industrial production, robots are at its core. However, some operations of the robot require a relatively slow speed and require a reduction gear of a large transmission ratio. In the existing deceleration devices, the transmission ratio is not large enough, especially in the joint servo servo of the humanoid intelligent robot, which requires the reduction gear to be small in size, large in torque and compact in structure, and meets specific reduction ratio requirements.

In order to meet the specific reduction ratio requirements, the servo steering gear is usually realized by parallel shaft gear transmission, which has a single-stage reduction ratio and is not compact enough.

Summary of the invention

The object of the present invention is to provide a servo steering gear, which aims to solve the technical problem that the servo steering gear of the prior art adopts parallel shaft gear transmission and causes a reduction ratio.

The present invention is achieved in such a manner that a servo steering gear includes:

a driving device for providing power and having a first output shaft for outputting power, wherein the first output shaft is mounted with a power input gear;

a speed reduction mechanism for changing a power output direction of the driving device, and including a power gear that cooperates with the power input gear, a first coaxially disposed with the power gear, and rotates synchronously with the power gear a transmission gear, a speed reduction assembly driven by the first transmission gear;

a power output mechanism, the power output mechanism is driven by the speed reduction mechanism, and includes a second output shaft driven by the output end of the speed reduction assembly and connected to an external component;

Wherein the power input gear and the power gear are interlaced.

Further, an axial direction of the first output shaft is perpendicular to an axial direction of the power gear.

Further, the power input gear and the power gear are intermeshing worm gears, crossed helical gears or hypoid helical gears.

Further, the speed reduction assembly includes a fixed shaft disposed axially parallel to the power gear, a second transmission gear intermeshing with the first transmission gear, and a coaxial arrangement with the second transmission gear and a planetary gear set connected to the power output mechanism, the second transmission gear and the planetary gear set being mounted on the fixed shaft, the second transmission gear comprising a first gear and a second gear coaxially disposed and fixed to each other The first gear meshes with the first transmission gear, and the second gear meshes with the planetary gear set.

Further, the planetary gear set includes three planetary gears disposed outside the second gear and meshing with the second gear, a planet carrier for mounting the planetary gears and mounted on the fixed shaft And a fixed gear that is sleeved on the periphery of the planet carrier and meshes with each of the planet gears to restrict the planetary gear from being idling, and the power output mechanism is coaxially mounted on the fixed shaft with the planetary gear set.

Further, the power output mechanism further includes an end cover fixedly coupled to the second output shaft and fixedly coupled to the carrier, the end cover being located between the second output shaft and the planet carrier; The carrier includes a lower jaw fixedly coupled to the end cap and a planet shaft fixedly coupled to each of the planet gears, and an installation between the end cap and the lower plate for mounting each of the planet gears is formed An opening, the planetary shaft is disposed in the mounting opening, and one end is inserted into the end cover and the other end is inserted into the lower clamping plate.

Further, the servo steering gear further includes a base provided with a first accommodating cavity, and a side cover fixedly connected to the base and forming a second accommodating cavity with the base, the driving device Mounted in the first accommodating cavity, the cradle includes a fixing plate protruding from a cavity wall of the first accommodating cavity and for mounting the fixed shaft and the power gear, and the The side cover abuts the fixed casing portion, the speed reduction mechanism is installed in the second accommodating cavity, and the casing portion is provided with a first fixing hole for fixedly mounting the power output mechanism, the fixed gear Fixed to the housing portion and the side cover.

Further, the servo steering gear further includes a mounting assembly fixedly mounted on a side of the housing portion facing the fixing plate to be coaxially disposed with the second output shaft, the housing portion being provided with a seat a second fixing hole opposite to the first fixing hole, the mounting assembly includes a connecting plate fixedly mounted on the fixing plate, and is fixedly mounted on the connecting plate through the second fixing hole and has a connecting shaft The connecting column of the hole.

Further, the power output mechanism includes a fixed bearing ringed around the periphery of the end cover and a snap ring that is disposed between the hole wall of the first fixing hole and the periphery of the fixed bearing.

The invention also provides a robot comprising the above servo steering gear.

The technical effect of the present invention is that the servo steering gear is powered by the speed reduction mechanism, and the power gear is meshed with the power input gear and the power gear is driven by the speed reduction mechanism. The first transmission gear and the speed reduction assembly perform power transmission, and the structure is simple and the single-stage transmission ratio is large; and the power input gear and the power gear are interlaced to reduce the cooperation between the gears of each stage. Noise, and increase the reduction ratio of the speed reduction mechanism.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments of the present invention or the description of the prior art will be briefly described below. Obviously, the drawings described below are only the present invention. For some embodiments, other drawings may be obtained from those of ordinary skill in the art without departing from the drawings.

1 is a structural diagram of a servo steering gear according to an embodiment of the present invention;

Figure 2 is a cross-sectional view of the servo steering gear of Figure 1 in one direction;

Figure 3 is a cross-sectional view of the servo steering gear of Figure 1 in another direction;

Figure 4 is an exploded view of the servo steering gear of Figure 1;

5 is an exploded view of a driving device, a speed reduction mechanism, and a power output mechanism according to an embodiment of the present invention;

Fig. 6 is a structural view showing the driving device, the speed reducing mechanism, and the power output mechanism of Fig. 5.

Description of the reference signs:

1010	驱动装置 Drive unit	6060	安装组件 Installation component
1212	第一输出轴 First output shaft	6262	连接板 Connection plate
1414	动力输入齿轮 Power input gear	6464	连接柱 Connecting column
2020	减速机构Speed reduction mechanism
21twenty one	动力齿轮Power gear
22twenty two	第一传动齿轮 First transmission gear	3030	动力输出机构Power output mechanism
24twenty four	减速组件 Deceleration component	3131	端盖 End cap
240240	固定轴 Fixed axis	3232	第二输出轴 Second output shaft
242242	第二传动齿轮 Second transmission gear	3434	固定轴承Fixed bearing
244244	第一齿轮 First gear	3636	卡接环 Card ring
245245	第二齿轮 Second gear	4040	机座 Machine base
246246	行星轮组 Planetary wheel set	4242	第一容置腔体First accommodating cavity
24602460	行星齿轮 Planetary gear	4444	固定板 Fixed plate
24622462	行星架 Planet carrier	4545	壳体部 Housing
24642464	下夹板 Lower splint	450450	第一固定孔 First fixing hole
24662466	行星轴 Planetary axis	452452	第二固定孔 Second fixing hole
24682468	安装开口Mounting opening	5050	侧盖 Side cover
248248	固定齿轮Fixed gear	5252	第二容置腔体Second accommodating cavity

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", The orientation or positional relationship of the indications such as "horizontal", "top", "bottom", "inside", "outside" and the like is based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description, rather than It is to be understood that the device or elements referred to have a particular orientation, are constructed and operated in a particular orientation and are therefore not to be construed as limiting.

Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include one or more of the features either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.

In the present invention, the terms "installation", "connected", "connected", "fixed" and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

Referring to FIG. 1 to FIG. 6 , the servo steering gear provided by the embodiment of the present invention includes:

The driving device 10 is configured to provide power and has a first output shaft 12 for outputting power, and the first output shaft 12 is mounted with a power input gear 14;

a speed reduction mechanism 20 for changing a power output direction of the driving device 10, and including a power gear 21 cooperating with the power input gear 14, coaxially disposed with the power gear 21, and a first transmission gear 22 of the power gear 21 synchronously rotating, a deceleration assembly 24 driven by the first transmission gear 22 to rotate thereof;

a power output mechanism 30, the power output mechanism 30 is driven by the speed reduction mechanism 20, and includes a second output shaft 32 driven by the output end of the speed reduction assembly 24 and connected to an external component;

Wherein, the power input gear 14 and the power gear 21 are interlaced.

The servo steering gear provided by the embodiment of the present invention is powered by the speed reduction mechanism 20, and the power gear 21 of the speed reduction mechanism 20 is meshed with the power input gear 14 and the power gear 21 drives the first A transmission gear 22 and the reduction assembly 24 perform power transmission, and the structure is simple and the single-stage transmission ratio is large; and the power input gear 14 and the power gear 21 are interlaced to reduce the gear coordination of each stage. The noise between them is increased, and the reduction ratio of the speed reduction mechanism 20 is increased.

In this embodiment, the driving device 10 is a driving motor, and different types of driving motors can be selected according to actual required output power.

In this embodiment, the speed reduction mechanism 20 further includes a mounting shaft (not shown) for mounting the power gear 21 and the first transmission gear 22, the mounting shaft being perpendicular to the first output shaft 12, and the power gear 21 mounted on the mounting shaft is interlaced with the power input gear 14 mounted on the first output shaft 12, and the power input gear 14 interlaced with each other and the The power gear 21 can effectively reduce the noise of the servo steering gear and can increase the single-stage reduction ratio of the servo steering gear.

Referring to FIG. 2 to FIG. 6 , further, the axial direction of the first output shaft 12 is perpendicular to the axial direction of the power gear 21 . The axial direction of the first output shaft 12 is perpendicular to the axial direction of the mounting shaft to form a stagger to change the power output direction of the driving device 10. In addition, the first output shaft 12 is vertically disposed with the mounting shaft, and the power input gear 14 is interlaced with the power gear 21 to improve the single-stage reduction ratio of the entire servo servo and reduce noise. .

Further, the power input gear 14 and the power gear 21 are worm gears, crossed helical gears or hypoid helical gears that mesh with each other. It can be understood that the servo steering gear performs power input by using a worm gear, a crossed helical gear or a hypoid helical gear that mesh with each other, and changes the power transmission direction of the driving device 10 to pass through the power output mechanism 30. The second output shaft 32 transmits power to the external components.

In this embodiment, the teeth of the power input gear 14 are spirally disposed along the axis of the first output shaft 12, the teeth of the power gear 21 are inclined along the outer circumferential surface of the power gear 21, and The tilting direction is inclined along the axis of the mounting shaft.

In this embodiment, the mounting shaft and the second output shaft 32 are disposed parallel to each other, that is, the first output shaft 12 is perpendicular to the second output shaft 32.

In this embodiment, the gear outer diameter of the power gear 21 is larger than the outer diameter of the first transmission gear 22, and the number of teeth of the power gear 21 is greater than the number of teeth of the first transmission gear 22.

In this embodiment, the first transmission gear 22 and the power gear 21 are disposed together on the same gear base, that is, the first transmission gear 22 rotates as the power gear 21 rotates.

Referring to FIG. 2 to FIG. 6 , further, the speed reduction assembly 24 includes a fixed shaft 240 disposed axially parallel to the power gear 21 , a second transmission gear 242 meshing with the first transmission gear 22 , and The second transmission gear 242 is coaxially disposed and coupled to the power output mechanism 30, and the second transmission gear 242 and the planetary gear set 246 are mounted on the fixed shaft 240. The second transmission gear 242 includes a first gear 244 and a second gear 245 that are coaxially disposed and fixed to each other, the first gear 244 intermeshing with the first transmission gear 22, the second gear 245 and the planet The wheel sets 246 are in mesh with each other. The servo steering gear meshes with the planetary gear set 246 by providing the second transmission gear 242 in the speed reduction mechanism 20 to provide the servo steering gear with a sufficient deceleration effect. It can be understood that the fixed shaft 240 is disposed coaxially with the second output shaft 32 and is disposed in parallel with the mounting shaft. Preferably, the number of teeth of the second transmission gear 242 is greater than the number of teeth of the first transmission gear 22 to achieve a corresponding reduction ratio requirement. The second transmission gear 242 is rotated by the first transmission gear 22, and the first gear 244 and the second gear 245 are disposed on the same gear base 40 and rotate synchronously, the first transmission gear 22 engages with the first gear 244 and rotates as the first gear 244 rotates. The second gear 245 is in mesh with the planetary gear set 246 to drive the planetary gear set 246 to rotate.

In this embodiment, the second gear 245 protrudes along the disk surface of the first gear 244 and is provided with teeth that mesh with the planetary gear set 246. Preferably, the first gear 244 and the second gear 245 are integrally formed, and the second gear 245 rotates with the rotation of the first gear 244 and has the same rotational speed to drive The planetary gear set 246 rotates.

Referring to FIG. 4 to FIG. 5, further, the planetary gear set 246 includes three planetary gears 2460 disposed outside the second gear 245 and meshing with the second gear 245 for mounting the planet. a gear 2460 and a carrier 2462 mounted on the fixed shaft 240, and a fixed gear 248 that is sleeved around the periphery of the carrier 2462 and meshes with each of the planetary gears 2460 to restrict the planetary gear 2460 from idling. The output mechanism 30 is mounted coaxially with the planetary gear set 246 on the fixed shaft 240. Each of the planetary gears 2460 meshes with the second gear 245 and drives the carrier 2462 to rotate, thereby driving the power output mechanism 30 to rotate. It can be understood that the carrier 2462 is provided with a through hole, and the external teeth of the second gear 245 mesh with the external teeth of each of the planetary gears 2460 to drive the planetary gear 2460 to rotate. The planet gears 2460 drive the planet carrier 2462 to rotate and drive the power take-off mechanism 30 to rotate with the planet carrier 2462.

The servo steering gear divides the power by three of the planetary gears 2460 in the planetary gear set 246, and the power is shunted by the three of the planetary gears 2460, so that the load-carrying capacity of the speed reduction mechanism 20 is high.

In this embodiment, the servo steering gear is driven by the planetary gear 2460 by the speed reducing mechanism 20, and the single-stage deceleration is relatively large. Therefore, the entire servo steering gear only needs the power gear 21, the first transmission gear 22, and the second transmission. The gear 242 and the planetary gear set 246 can meet the overall reduction ratio requirements. Moreover, since the servo steering gear adopts the planetary gear 2460, the number of gears used by the servo steering gear is greatly reduced, the assembly procedure of the servo steering gear is relatively reduced, and the cost is saved, and at the same time, since the planetary gear 2460 is used for transmission, The structure of the speed reduction mechanism 20 is very compact and has high load carrying capacity.

In this embodiment, the fixed gear 248 is provided with inner teeth that mesh with each of the planetary gears 2460. It can be understood that the inner gear teeth of the fixed gear 248 mesh with the outer teeth of the planetary gears 2460 to prevent the planetary gears 2460 from idling, and to ensure the normal operation of each of the planetary gears 2460.

Referring to FIG. 2 to FIG. 6 , the power output mechanism 30 further includes an end cover 31 fixedly coupled to the second output shaft 32 and fixedly coupled to the carrier 2462. The end cover 31 is located at the end. Between the second output shaft 32 and the planet carrier 2462; the carrier 2462 includes a lower jaw 2464 fixedly coupled to the end cap 31 and a planet shaft 2466 fixedly coupled to each of the planet gears 2460, A mounting opening 2468 for mounting each of the planetary gears 2460 is formed between the end cover 31 and the lower clamping plate 2464. The planetary shaft 2466 is disposed in the mounting opening 2468 and one end is inserted into the end cover 31. And the other end is inserted into the lower clamping plate 2464. The servo steering gear realizes the installation of each of the planetary gears 2460 by providing the end cover 31 and the lower clamping plate 2464, and has a compact structure and convenient assembly and disassembly.

In this embodiment, the end cap 31 and the second output shaft 32 are integrally formed. The servo steering gear mounts each of the planetary gears 2460 by the end cover 31 and the lower clamping plate 2464, and a planetary shaft 2466 is disposed between the end cover 31 and the lower clamping plate 2464 to place each of the planets A gear 2460 is fixedly mounted on the planet shaft 2466.

When installed, each of the planet shafts 2466 is inserted into the corresponding planet gears 2460 and fixedly engaged with the planet gears 2460, and one end of the planet shafts 2466 is inserted into the lower jaws 2464, the ends A cover 31 is disposed relative to the lower jaw 2464 and the other end of the planet shaft 2466 is inserted into the end cap 31 and the end cap 31 and the lower jaw 2464 are secured together by a locking screw, thereby The planet shaft 2466 is mounted in the mounting opening 2468 along with the planetary gears 2460. Under the engagement of the second gear 245, the planetary gears 2460 drive the end caps 31 and the lower portions fixed to each other. The splint 2464 is rotated.

Referring to FIG. 5, in the embodiment, the lower clamping plate 2464 includes a seat body (not labeled) and a plurality of raised columns (not labeled) protruding along the surface of the seat body toward the end cover 31 side. Each of the protruding pillars is spaced apart, and a planetary gear 2460 is disposed between two adjacent convex pillars, and the base body is provided with a through hole for the second gear 245 to pass through ( Not shown) and a first mounting slot (not shown) between two adjacent raised posts, one end of the planet shaft 2466 is inserted into the first mounting slot. The end cover 31 is provided with a second mounting slot (not labeled) opposite to the first mounting slot, and the other end of the planet shaft 2466 is inserted into the second mounting slot. The end cover 31 is disposed opposite to the lower clamping plate 2464 and the first mounting groove is opposite to the second mounting groove, and passes through the end cap 31 and is locked by the locking screw The raised posts of the splint 2464 are such that adjacent ones of the raised posts enclose the end cap 31 to form the mounting opening 2468 in which the planet gears 2460 are mounted. The seat body, the protruding column and the end cover 31 are enclosed to form the receiving cavity for receiving the second gear 245, the receiving cavity is communicated with the mounting opening 2468, and the second gear 245 And being engaged in the receiving cavity and engaging with each of the planetary gears 2460 installed in the mounting opening 2468, so that the planetary gears 2460 drive the end cover 31 and the lower clamping plate 2464 to rotate, thereby driving the The second output shaft 32 rotates to transmit power.

In this embodiment, both ends of each of the planetary shafts 2466 are respectively mounted in the first mounting groove and the second mounting groove by bearings, so that each of the planetary gears 2460 drives the end cover 31 and The lower jaw 2464 rotates.

In this embodiment, each of the planetary gears 2460 is equally spaced along the circumference of the fixed shaft 240. The servo steering gear sets the planetary gears 2460 at equal intervals to uniformly transmit loads at the same time, so that the power is evenly split.

Referring to FIG. 2 to FIG. 6 , the servo steering gear further includes a base 40 provided with a first receiving cavity 42 and fixedly connected with the base 40 and forming a second with the base 40 . The side cover 50 of the cavity 52 is received. The driving device 10 is mounted in the first accommodating cavity 42. The base 40 includes a wall protruding from the cavity of the first accommodating cavity 42. And a fixing plate 44 for mounting the fixed shaft 240 and the power gear 21, and a housing portion 45 fixed to the side cover 50, wherein the speed reducing mechanism 20 is mounted to the second receiving cavity 52. The housing portion 45 is provided with a first fixing hole 450 for fixing the power output mechanism 30, and the fixing gear 248 is fixed to the housing portion 45 and the side cover 50. The base 40 and the side cover 50 form an appearance member of the servo steering gear, and constitute an outer casing structure of the servo steering gear, and protect the power input device and the speed reduction mechanism 20. The circumference of the fixed gear 248 is fixed to the base 40 and the side cover 50 and is received in the second receiving cavity 52.

Referring to FIG. 2 to FIG. 6 , the servo steering gear further includes an installation fixedly mounted on a side of the housing portion 45 facing the fixing plate 44 to be coaxial with the second output shaft 32 . The housing portion 45 is provided with a second fixing hole 452 opposite to the first fixing hole 450. The mounting assembly 60 includes a connecting plate 62 fixedly mounted on the fixing plate 44 and a through hole. The second fixing hole 452 is fixedly mounted on the connecting plate 62 and has a connecting post 64 connecting the shaft holes. The servo steering gear is coupled to the external component by providing the connecting plate 62 and the connecting post 64, and the connecting post 64 is disposed coaxially with the second output shaft 32 to facilitate mounting on the external component.

Referring to FIG. 2 to FIG. 6 , the power output mechanism 30 further includes a fixed bearing 34 disposed around the periphery of the end cover 31 and a hole wall and the fixed bearing of the first fixing hole 450 . 34 snap ring 36 between the periphery. The servo steering gear fixes the power output mechanism 30 by providing the fixed bearing 34 on the power output mechanism 30 to add a primary bearing outside the servo steering gear, so that the servo steering mechanism structure is more stable, which is beneficial to the servo steering mechanism. The angle output by the power output mechanism 30 is more precise. The servo steering gear is fitted to the base 40 by stably fitting the snap ring 36 around the fixed bearing 34 to prevent it from traveling in the radial direction.

In each of the above embodiments, the fixed bearing 34 includes an inner ring (not shown) that is sleeved on the second output shaft 32, and an outer ring that is coaxial with and spaced apart from the inner ring (not shown). And a rolling element (not shown) disposed between the inner ring and the outer ring. The outer ring is locked in the snap ring 36, and is fixed between the outer ring and the base 40 by the snap ring 36, thereby fixing the fixed bearing 34 to the base. 40, to reduce the rotational friction between the second output shaft 32 and the snap ring 36.

Referring to FIG. 1 to FIG. 6 , the robot provided by the embodiment of the present invention includes the above servo steering gear. The servo steering gear in this embodiment has the same structure as the servo steering gear in the above embodiments, and functions the same, and will not be described herein.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims

A servo steering gear, comprising:

a driving device for providing power and having a first output shaft for outputting power, wherein the first output shaft is mounted with a power input gear;

a speed reduction mechanism for changing a power output direction of the driving device, and including a power gear that cooperates with the power input gear, a first coaxially disposed with the power gear, and rotates synchronously with the power gear a transmission gear, a speed reduction assembly driven by the first transmission gear;

a power output mechanism, the power output mechanism is driven by the speed reduction mechanism, and includes a second output shaft driven by the output end of the speed reduction assembly and connected to an external component;

Wherein the power input gear and the power gear are interlaced.
The servo steering gear according to claim 1, wherein an axial direction of said first output shaft is perpendicular to an axial direction of said power gear.
The servo steering gear according to claim 1, wherein said power input gear and said power gear are intermeshing worm gears, crossed helical gears or hypoid helical gears.
The servo steering gear according to any one of claims 1 to 3, wherein the speed reduction assembly includes a fixed shaft disposed in parallel with the power gear shaft, and a second meshing engagement with the first transmission gear a transmission gear and a planetary gear set coaxially disposed with the second transmission gear and coupled to the power output mechanism, the second transmission gear and the planetary gear set being mounted on the fixed shaft, the second The transmission gear includes a first gear and a second gear that are coaxially disposed and fixed to each other, the first gear meshes with the first transmission gear, and the second gear meshes with the planetary gear set.
A servo steering gear according to claim 4, wherein said planetary gear set includes three planetary gears disposed outside said second gear and meshing with said second gear for mounting said planet a carrier mounted on the fixed shaft, a fixed gear that is sleeved on the periphery of the carrier and meshes with each of the planetary gears to restrict the planetary gear from idling, the power output mechanism and the planetary gear The set is coaxially mounted on the fixed shaft.
The servo steering gear according to claim 5, wherein said power output mechanism further comprises an end cover fixedly coupled to said second output shaft and fixedly coupled to said carrier, said end cap being located a second output shaft and the carrier; the carrier includes a lower plate fixedly coupled to the end cap and a planet shaft fixedly coupled to each of the planet gears, the end cap and the lower plate A mounting opening for mounting each of the planetary gears is formed, the planetary shaft is disposed in the mounting opening and one end is inserted into the end cover and the other end is inserted into the lower clamping plate.
The servo steering gear according to claim 6, further comprising a base provided with a first receiving cavity and a fixed connection with the base and a second receiving cavity with the base a side cover, the driving device is installed in the first accommodating cavity, the cradle includes a cavity wall protruding from the first accommodating cavity and is used for mounting the fixed shaft and the power gear a fixing plate and a housing portion fixed to the side cover, wherein the speed reducing mechanism is mounted in the second receiving cavity, and the housing portion is provided with a first portion for fixedly mounting the power output mechanism a fixing hole fixed to the housing portion and the side cover.
A servo steering gear according to claim 7, further comprising: a mounting assembly fixedly mounted on a side of said housing portion facing said fixing plate to be coaxially disposed with said second output shaft, said The housing portion is provided with a second fixing hole opposite to the first fixing hole, the mounting assembly includes a connecting plate fixedly mounted on the fixing plate, and is fixedly mounted on the fixing plate through the second fixing hole A connecting post on the connecting plate and having a connecting shaft hole.
The servo steering gear according to claim 7, wherein said power output mechanism comprises a fixed bearing ringed on a periphery of said end cover, and a hole wall and said fixed bearing that are engaged in said first fixing hole A snap ring between the peripherals.
A robot comprising the servo steering gear according to any one of claims 1 to 9.